Source code for sic_framework.devices.common_nao_stub.nao_stub_stiffness

"""
NAO stub stiffness component.
"""

from sic_framework.core.actuator_python2 import SICActuator
from sic_framework.core.connector import SICConnector
from sic_framework.core.message_python2 import SICMessage, SICConfMessage, SICRequest



[docs]
class NaoStubStiffnessActuator(SICActuator):
    """Stub for NAO stiffness actuator - logs actions instead of executing them."""
    

[docs]
    @staticmethod
    def get_conf():
        return SICConfMessage()

    

[docs]
    @staticmethod
    def get_inputs():
        return [SICRequest]

    

[docs]
    @staticmethod
    def get_output():
        return SICMessage

    

[docs]
    def execute(self, request):
        """Log the stiffness request instead of executing it."""
        self.logger.info("NaoStub.stiffness: {}".format(type(request).__name__))
        self.logger.debug("  Request details: {}".format(request))
        return SICMessage()

    

[docs]
    def on_message(self, message):
        """Log incoming messages."""
        self.logger.info("NaoStub.stiffness message: {}".format(type(message).__name__))
        self.logger.debug("  Message details: {}".format(message))



[docs]
    def stop(self):
        """Stop the Stiffness actuator."""
        self._stopped.set()
        super(NaoStubStiffnessActuator, self).stop()





[docs]
class NaoStubStiffness(SICConnector):
    component_class = NaoStubStiffnessActuator